A Harvesting Robot for Small Fruit in Bunches Based on 3-D Stereoscopic Vision

Abstract

This paper describes the concept of a harvesting robotic system for small and delicate fruitthat may grow in bunches. The main component of the robot is the vision system that, unlike traditionalvision methods, is able to distinguish and locate each individual fruit in a bunch. It combines a passive andan active 3-D reconstruction technique: stereoscopic vision and structured lighting. It is composed of twostereoscopic cameras and a matrix of laser diodes, which is used to project a reticule of luminous spotswhen a bunch is detected in order that the stereoscopic camera system can perform a 3-D reconstruction oftheir position. A prototype of a harvesting robot based on it has been developed and tested with realstrawberry crops in hydroponic greenhouses. Some experimental results of these tests are included.